//
// Created by liangwenhao on 2024/4/6.
//

#ifndef _YAW_CONTROL_H
#define _YAW_CONTROL_H
#include "motor_driver.h"
#include "math.h"

#define YAW_ANGLEINIT 10000
#define ABSOLUTE_ENCODER_MAX 32768

extern float YawMotor_Target_Angle;
extern float YawMotor_CrossAngle;
extern float YawEncoder_Real_Angle;
extern float YawEncoder_Value;
extern uint8_t Yaw_Init_Flag;

void YawMotor_Init();
void YawMotor_Control();
#endif //_YAW_CONTROL_H
